Feasibility study of IoRT platform “Big Sensor Box”

Kurazume, Ryo; Pyo, Yoonseok; Nakashima, Kouichi; Kawamura, Akira; Tsuji, Tokuo

doi:10.1109/icra.2017.7989420

Cited by 10 publications

(12 citation statements)

References 24 publications

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“…This optical tracking information is fused with the wheel odometry information taken by the Kalman filter, and then the position (2 DoFs) and orientation (1 DoF) are estimated. Next, the task planner in the ROS-TMS (TMS_RP, Robot Planning module) [3] plans the trajectory along the Voronoi boundaries to reach to the desired destination while keeping enough distance to avoid obstacles. Finally, the personal mobility robot controls its motion to move on the desired trajectory.…”

Section: Navigation Systemmentioning

confidence: 99%

“…We have been developing a software platform named the ROS-Town Management System (ROS-TMS) [1] for the ISE [2,3]. ROS-TMS consists of several hierarchical layers that have functions for the control system of robots and sensors: the understanding of sensory information, task planning and execution, human interfaces, and a database.…”

Section: Introductionmentioning

confidence: 99%

“…We also have been developing a hardware platform for the ISE named Big Sensor Box (B-sen), shown in Fig. 1, and have been conducting service experiments by various robots [3]. In B-sen, for example, an optical tracking system consisting of eighteen infrared cameras (Bonita, Vicon), some of which are shown in Fig.…”

Section: Introductionmentioning

confidence: 99%

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Development of mobile sensor terminals “Portable Go” for navigation in informationally structured and unstructured environments

et al. 2019

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This paper proposes a navigation system of a personal mobility robot in informationally structured and unstructured environments. First, we introduce a group of robots named Portable Go, which are equipped with laser range finders, gyros, and omni-directional wheels. The Portable Go robots expand the informationally structured environment by deploying in the informationally unstructured environment in advance. Then, a personal mobility robot based on an electric wheelchair is guided by eleven Portable Go robots in the new informationally structured environment which is just created by the Portable Go robots. Through navigation experiments, we verify that the proposed system navigates the personal mobility robot from the informationally structured environment to the informationally unstructured environment smoothly by using the Portable Go robots. which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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Section: Navigation Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Development of mobile sensor terminals “Portable Go” for navigation in informationally structured and unstructured environments

et al. 2019

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“…ROS-TMS [13,14,16] is a core software platform for IoRT. We released the latest version, ROS-TMS 5.0, in June 2017.…”

Section: Ros-tms 50mentioning

confidence: 99%

“…The authors also started to develop a town-scale ISE named "Robot Town Project" in 2005 and have been developing a software platform named Town Management System (TMS) [12][13][14]. In [14], we proposed ROS-TMS 4.0, which adopted the Robot Operating System (ROS) [15] as the middleware of TMS to utilize high scalability and rich resources of ROS. In addition, the hardware platform of ISE called Big Sensor Box which incorporates various sensors under ROS-TMS management and operates service robots based on structured information has been developed.…”

Section: Introductionmentioning

confidence: 99%

Development of ROS-TMS 5.0 for informationally structured environment

et al. 2018

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An informationally structured environment (ISE) is a key technology for realizing service robots in daily life in the near future. In ISE, the information of the service robot and its surroundings is structured and provided to the robot on time and on demand. We started the development of a management system for ISE named TMS (Town Management System) in Robot Town Project in 2005. Since then we are continuing our efforts for the improvement of the performance and the enhancement of the functions of TMS. In this paper, we propose the latest system of TMS named ROS-TMS 5.0, which adopts ROS to utilize high scalability and rich resources of ROS. Next, we introduce the hardware platform of ISE called Big Sensor Box which incorporates various sensors under ROS-TMS management and operates service robots based on structured information. Robot service experiments including watching service of a care receiver, voice control of a communication robot and a robotic bed, and ing information by voice are also conducted in Big Sensor Box.

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Near-future perception system: Previewed Reality

et al. 2020

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The present paper introduces a near-future perception system called Previewed Reality. In a coexistence environment of a human and a robot, unexpected collisions between the human and the robot must be avoided to the extent possible. In many cases, the robot is controlled carefully so as not to collide with a human. However, it is almost impossible to perfectly predict human behavior in advance. On the other hand, if a user can determine the motion of a robot in advance, he/she can avoid a hazardous situation and exist safely with the robot. In order to ensure that a user perceives future events naturally, we developed a near-future perception system named Previewed Reality. Previewed Reality consists of an informationally structured environment, a VR display or an AR display, and a dynamics simulator. A number of sensors are embedded in an informationally structured environment, and information such as the position of furniture, objects, humans, and robots, is sensed and stored structurally in a database. Therefore, we can forecast possible subsequent events using a robot motion planner and a dynamics simulator and can synthesize virtual images from the viewpoint of the user, which will actually occur in the near future. The viewpoint of the user, which is the position and orientation of a VR display or an AR display, is also tracked by an optical tracking system in the informationally structured environment, or the SLAM technique on an AR display. The synthesized images are presented to the user by overlaying these images on a real scene using the VR display or the AR display. This system provides human-friendly communication between a human and a robotic system, and a human and a robot can coexist safely by intuitively showing the human possible hazardous situations in advance.

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Feasibility study of IoRT platform “Big Sensor Box”

Cited by 10 publications

References 24 publications

Development of mobile sensor terminals “Portable Go” for navigation in informationally structured and unstructured environments

Development of mobile sensor terminals “Portable Go” for navigation in informationally structured and unstructured environments

Development of ROS-TMS 5.0 for informationally structured environment

Near-future perception system: Previewed Reality

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